EP3351443B1 - Elektrisches bremssystem - Google Patents

Elektrisches bremssystem Download PDF

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Publication number
EP3351443B1
EP3351443B1 EP16846367.7A EP16846367A EP3351443B1 EP 3351443 B1 EP3351443 B1 EP 3351443B1 EP 16846367 A EP16846367 A EP 16846367A EP 3351443 B1 EP3351443 B1 EP 3351443B1
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EP
European Patent Office
Prior art keywords
braking force
control
antilock control
antilock
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16846367.7A
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English (en)
French (fr)
Other versions
EP3351443A4 (de
EP3351443A1 (de
Inventor
Yui Masuda
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTN Corp
Original Assignee
NTN Corp
NTN Toyo Bearing Co Ltd
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Publication date
Application filed by NTN Corp, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Publication of EP3351443A1 publication Critical patent/EP3351443A1/de
Publication of EP3351443A4 publication Critical patent/EP3351443A4/de
Application granted granted Critical
Publication of EP3351443B1 publication Critical patent/EP3351443B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B60T8/17616—Microprocessor-based systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/173—Eliminating or reducing the effect of unwanted signals, e.g. due to vibrations or electrical noise
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tire behaviour; counteracting thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/04—Vehicle reference speed; Vehicle body speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/10—ABS control systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)

Claims (4)

  1. Elektrische Bremsanlage, umfassend: eine elektrische Bremsvorrichtung (1), die einen Elektromotor (4) umfasst und konfiguriert ist, um eine Bremskraft zum Bremsen eines Fahrzeugs auf ein Rad (20) auszuüben; eine Vorrichtung (2) zum Steuern von Bremskraft, die konfiguriert ist, um eine Nachlaufsteuerung durch die Steuerung des Elektromotors (4) derart auszuführen, dass die Bremskraft einer gegebenen benötigten Bremskraft folgt; eine Vorrichtung (17) zum Schätzen einer Radgeschwindigkeit, die konfiguriert ist, um eine Radgeschwindigkeit zu schätzen, wobei es sich um eine Geschwindigkeit des Rades (20) handelt, für das eine Bremsbetätigung erfolgt; und eine Funktionseinheit (18) zum Schätzen einer Fahrzeugkarosseriegeschwindigkeit, die konfiguriert ist, um eine Fahrzeugkarosseriegeschwindigkeit des Fahrzeugs zu schätzen, wobei
    die Vorrichtung (2) zum Steuern von Bremskraft umfasst
    eine normale Steuereinheit (21), die konfiguriert ist, um die Nachlaufsteuerung derart auszuführen, dass die Bremskraft der benötigten Bremskraft folgt, die einem Betätigungsbetrag einer Bremsbetätigungsvorrichtung (19) in dem Fahrzeug entspricht, und
    eine Funktionseinheit (22) zur Antiblockiersteuerung, die konfiguriert ist, um aus der Radgeschwindigkeit, die von der Vorrichtung (17) zum Schätzen einer Radgeschwindigkeit geschätzt wird, und der Fahrzeugkarosseriegeschwindigkeit, die von der Funktionseinheit (18) zum Schätzen einer Fahrzeugkarosseriegeschwindigkeit geschätzt wird, einen Schlupf des Rades (20) im Verhältnis zu einer Straßenoberfläche, mit der das Rad (20) in Kontakt steht, zu detektieren, und um eine Antiblockierungssteuerung zum Reduzieren eines Schlupfbetrags auszuführen,
    die Funktionseinheit (22) zur Antiblockiersteuerung eine Einheit (29) zum Bestimmen eines Eingriffs zur Antiblockiersteuerung umfasst, die konfiguriert ist, um zu bestimmen, ob die Antiblockiersteuerung gemäß einer vorbestimmten Bedingung auszuführen ist oder nicht,
    die Vorrichtung (2) zum Steuern von Bremskraft eine Schaltfunktionseinheit (23) umfasst, die konfiguriert ist, um zwischen der Nachlaufsteuerung durch die normale Steuereinheit (21) und der Antiblockiersteuerung durch die Funktionseinheit (22) zur Antiblockiersteuerung auf der Grundlage der Bestimmung durch die Einheit (29) zum Bestimmen eines Eingriffs zur Antiblockiersteuerung umzuschalten, und
    die Einheit (29) zum Bestimmen eines Eingriffs zur Antiblockiersteuerung die Ausführung der Antiblockiersteuerung beendet, wenn mindestens eine Bedingung der folgenden Bedingungen 1), 2) und 3) erfüllt ist, während die Antiblockiersteuerung ausgeführt wird:
    Bedingung 1): wenn die Bremskraft bei der Antiblockiersteuerung gleich oder größer als die benötigte Bremskraft wird;
    Bedingung 2) : wenn die benötigte Bremskraft kleiner als eine derartige Bremskraft wird, dass der Schlupfbetrag gleich oder kleiner als ein vorbestimmter Wert wird, auch ohne Ausführung der Antiblockiersteuerung; und
    Bedingung 3): wenn die Fahrzeugkarosseriegeschwindigkeit gleich oder kleiner als ein vorbestimmter Wert wird,
    dadurch gekennzeichnet, dass die Einheit (29) zum Bestimmen eines Eingriffs zur Antiblockiersteuerung die Ausführung der Antiblockiersteuerung beendet, wenn ein Wert, der erzielt wird, indem die Bremskraft bei der Antiblockiersteuerung durch ein vorbestimmtes Verzögerungselement gegeben wird, gleich oder größer als die benötigte Bremskraft wird, während die Antiblockiersteuerung ausgeführt wird.
  2. Elektrische Bremsanlage nach Anspruch 1, wobei das Verzögerungselement ein Tiefpassfilter ist, das eine Frequenzcharakteristik aufweist, die gleich oder kleiner als eine Frequenzcharakteristik ist, die durch Umrechnung im gleichen Verhältnis einer stationären Verstärkung bei einer Frequenz nahe Null auf "1" auf der Grundlage einer Verstärkungscharakteristik des Schlupfbetrags des Rades, mit Bezug auf eine Eingangsfrequenz der Bremskraft erzielt wird.
  3. Elektrische Bremsanlage nach Anspruch 1 oder 2, wobei, wenn die Bremskraft unter Bedingung 2) bestimmt wird, auf der Grundlage einer vorbestimmten Beziehung zwischen dem Schlupfbetrag jedes Rades (20) und einer Verzögerung des Fahrzeugs eine Bremskraft bestimmt wird, die geringer ist als eine Bremskraft zum Erreichen eines derartigen Schlupfbetrags, dass ein Anstieg des Schlupfbetrags keinen Anstieg der Verzögerung bewirkt.
  4. Elektrische Bremsanlage nach einem der Ansprüche 1 bis 3, wobei
    die Funktionseinheit (22) zur Antiblockiersteuerung eine Steuerungsberechnungseinheit (30) umfasst, die konfiguriert ist, wenn die Ausführung der Antiblockiersteuerung beendet ist, um zu bewirken, dass über einen vorbestimmten Zeitraum eine Umstellung von einer Bremskraft zu einem Zeitpunkt der Beendigung der Antiblockiersteuerung auf eine Bremskraft, die zur Nachlaufsteuerung durch die normale Steuereinheit (21) auszuführen ist, erfolgt.
EP16846367.7A 2015-09-14 2016-09-08 Elektrisches bremssystem Active EP3351443B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015180506A JP6584884B2 (ja) 2015-09-14 2015-09-14 電動制動システム
PCT/JP2016/076464 WO2017047496A1 (ja) 2015-09-14 2016-09-08 電動制動システム

Publications (3)

Publication Number Publication Date
EP3351443A1 EP3351443A1 (de) 2018-07-25
EP3351443A4 EP3351443A4 (de) 2019-05-22
EP3351443B1 true EP3351443B1 (de) 2021-08-11

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ID=58289268

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Application Number Title Priority Date Filing Date
EP16846367.7A Active EP3351443B1 (de) 2015-09-14 2016-09-08 Elektrisches bremssystem

Country Status (5)

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US (1) US10759402B2 (de)
EP (1) EP3351443B1 (de)
JP (1) JP6584884B2 (de)
CN (1) CN108025715B (de)
WO (1) WO2017047496A1 (de)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3604058B1 (de) * 2017-03-31 2023-01-18 Hitachi Astemo, Ltd. Fahrzeugbremssystem
JP6996402B2 (ja) * 2018-04-16 2022-01-17 株式会社豊田自動織機 電動パーキングブレーキシステム
CN109094542B (zh) * 2018-09-05 2022-01-18 中车株洲电力机车有限公司 一种低地板车的液压制动方法、装置及设备
JP7230534B2 (ja) * 2019-01-28 2023-03-01 株式会社アドヴィックス 車両の制動装置
CN111619359A (zh) * 2019-02-28 2020-09-04 北京新能源汽车股份有限公司 一种车辆制动能量回收的控制方法、整车控制器及车辆
CN112577412A (zh) * 2019-09-27 2021-03-30 罗伯特·博世有限公司 运行轮运行参数检测装置、轮毂电机和交通工具

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3812903A1 (de) 1988-04-18 1989-10-26 Lucas Ind Plc Verfahren zum regeln des bremsdruckes in einer abs-bremsanlage
DE4032506A1 (de) * 1990-10-12 1992-04-16 Lucas Ind Plc Verfahren zum regeln des bremsdruckes in einer blockiergeschuetzten fahrzeugbremsanlage
JPH05178191A (ja) * 1991-12-28 1993-07-20 Toyota Motor Corp アンチスキッド制御機能を備えたブレーキ装置
JP2002160623A (ja) * 2000-11-27 2002-06-04 Toyota Motor Corp 車輌のアンチスキッド制御装置
JP3750933B2 (ja) 2002-02-22 2006-03-01 日信工業株式会社 電気式ディスクブレーキの配置構造
US6905181B2 (en) * 2002-10-22 2005-06-14 Honda Motor Co., Ltd. Electric parking brake system
JP2004142513A (ja) 2002-10-22 2004-05-20 Honda Motor Co Ltd 電動駐車ブレーキ装置
CN102490705B (zh) * 2011-12-15 2015-06-10 奇瑞汽车股份有限公司 一种电子机械制动系统以及采用所述制动系统的汽车
JP6011175B2 (ja) * 2012-09-07 2016-10-19 株式会社アドヴィックス 車両の制動制御装置

Also Published As

Publication number Publication date
WO2017047496A1 (ja) 2017-03-23
JP6584884B2 (ja) 2019-10-02
CN108025715B (zh) 2020-06-26
JP2017056752A (ja) 2017-03-23
US20180201240A1 (en) 2018-07-19
CN108025715A (zh) 2018-05-11
EP3351443A4 (de) 2019-05-22
EP3351443A1 (de) 2018-07-25
US10759402B2 (en) 2020-09-01

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